Struct ConvexContactManifold

Namespace

BepuPhysics.CollisionDetection

Assembly

BepuPhysics.dll

Contains the data associated with a convex contact manifold.

public struct ConvexContactManifold : IContactManifold<ConvexContactManifold>

Implements

IContactManifold<ConvexContactManifold>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Fields

Contact0

public ConvexContact Contact0

Field Value

ConvexContact

Contact1

public ConvexContact Contact1

Field Value

ConvexContact

Contact2

public ConvexContact Contact2

Field Value

ConvexContact

Contact3

public ConvexContact Contact3

Field Value

ConvexContact

Count

public int Count

Field Value

int

Normal

Surface normal shared by all contacts. Points from collidable B to collidable A.

public Vector3 Normal

Field Value

Vector3

OffsetB

Offset from collidable A to collidable B.

public Vector3 OffsetB

Field Value

Vector3

Properties

this[int]

Gets or sets the contact at the given index in the manifold.

public Contact this[int contactIndex] { get; set; }

Parameters

contactIndex int

Index of the contact to get or set.

Property Value

Contact

Contact at the specified index.

Remarks

Note that contact normals are shared across a ConvexContactManifold. Setting one contact in a convex manifold will change the entire convex manifold's normal.

Methods

FastRemoveAt(ref ConvexContactManifold, int)

public static void FastRemoveAt(ref ConvexContactManifold manifold, int index)

Parameters

manifold ConvexContactManifold

index int

GetContact(int, out Contact)

Gets a copy of a contact's data.

public void GetContact(int contactIndex, out Contact contactData)

Parameters

contactIndex int

Index of the contact to copy data from.

contactData Contact

Data associated with the contact.

GetContact(int, out Vector3, out Vector3, out float, out int)

Retrieves a copy of a contact's data.

public void GetContact(int contactIndex, out Vector3 offset, out Vector3 normal, out float depth, out int featureId)

Parameters

contactIndex int

Index of the contact to copy data from.

offset Vector3

Offset from the first collidable's position to the contact position.

normal Vector3

Normal of the contact surface at the requested contact. Points from collidable B to collidable A.

depth float

Penetration depth at the requested contact.

featureId int

Feature id of the requested contact. Feature ids represent which parts of the collidables formed the contact and can be used to track unique contacts across frames.

GetConvexContactReference(ref ConvexContactManifold, int)

Gets a reference to a convex manifold's contact.

public static ref ConvexContact GetConvexContactReference(ref ConvexContactManifold manifold, int contactIndex)

Parameters

manifold ConvexContactManifold

Manifold to pull a reference from.

contactIndex int

Contact to pull data from.

Returns

ConvexContact

Reference to the requested contact.

Remarks

This is a helper that avoids manual casting. If the manifold is not a ConvexContactManifold, the function will throw an NotSupportedException.

GetDepth(int)

Gets the depth associated with a requested contact.

public float GetDepth(int contactIndex)

Parameters

contactIndex int

Index of the contact to grab the depth of.

Returns

float

Depth of the requested contact.

GetDepthReference(ref ConvexContactManifold, int)

Gets a reference to a contact's depth.

public static ref float GetDepthReference(ref ConvexContactManifold manifold, int contactIndex)

Parameters

manifold ConvexContactManifold

Manifold to pull a reference from.

contactIndex int

Contact to pull data from.

Returns

float

Reference to a contact's depth.

GetFeatureId(int)

Gets the feature id associated with a requested contact.

public int GetFeatureId(int contactIndex)

Parameters

contactIndex int

Index of the contact to grab the feature id of.

Returns

int

Feature id of the requested contact.

GetFeatureIdReference(ref ConvexContactManifold, int)

Gets a reference to a contact's feature id.

public static ref int GetFeatureIdReference(ref ConvexContactManifold manifold, int contactIndex)

Parameters

manifold ConvexContactManifold

Manifold to pull a reference from.

contactIndex int

Contact to pull data from.

Returns

int

Reference to a contact's feature id.

GetNonconvexContactReference(ref ConvexContactManifold, int)

Gets a reference to a nonconvex manifold's contact.

public static ref Contact GetNonconvexContactReference(ref ConvexContactManifold manifold, int contactIndex)

Parameters

manifold ConvexContactManifold

Manifold to pull a reference from.

contactIndex int

Contact to pull data from.

Returns

Contact

Reference to the requested contact.

Remarks

This is a helper that avoids manual casting. If the manifold is not a NonconvexContactManifold, the function will throw an NotSupportedException.

GetNormal(int)

Gets a contact's normal.

public Vector3 GetNormal(int contactIndex)

Parameters

contactIndex int

Index of the contact to grab the normal of.

Returns

Vector3

Normal of the requested contact.

Remarks

Points from collidable B to collidable A. In convex manifolds, all contacts share a normal and will return the same value.

GetNormalReference(ref ConvexContactManifold, int)

Gets a reference to a contact's normal. Points from collidable B to collidable A. For convex manifolds that share a normal, all contact indices will simply return a reference to the manifold-wide normal.

public static ref Vector3 GetNormalReference(ref ConvexContactManifold manifold, int contactIndex)

Parameters

manifold ConvexContactManifold

Manifold to pull a reference from.

contactIndex int

Contact to pull data from.

Returns

Vector3

Reference to a contact's normal (or the manifold-wide normal in a convex manifold).

GetOffset(int)

Gets the offset from collidable A to the requested contact.

public Vector3 GetOffset(int contactIndex)

Parameters

contactIndex int

Index of the contact to grab the offset of.

Returns

Vector3

Offset to a contact's offset.

GetOffsetReference(ref ConvexContactManifold, int)

Gets a reference to the offset from collidable A to the requested contact.

public static ref Vector3 GetOffsetReference(ref ConvexContactManifold manifold, int contactIndex)

Parameters

manifold ConvexContactManifold

Manifold to pull a reference from.

contactIndex int

Contact to pull data from.

Returns

Vector3

Reference to a contact's offset.